Frequency-Modulation Input-Shaping Strategy for Double-Pendulum Overhead Cranes Undergoing Simultaneous Hoist and Travel Maneuvers

Frequency-Modulation Input-Shaping Strategy for Double-Pendulum Overhead Cranes Undergoing Simultaneous Hoist and Travel Maneuvers

Blog Article

Large payloads hoisted by overhead cranes exhibit the same behavior as that of a double-pendulum.Changes in the hoisting cable length during payload transfer maneuvers give rise to time-dependent system frequencies rendering input-shaped commands ineffective.In this paper, a frequency-modulation input-shaping strategy that enables simultaneous hoist and Towel Racks travel maneuvers using single-mode input-shaping is presented.This strategy utilizes model-based feedback and partial feedback linearization techniques.Simulations are carried out using arbitrary travel and hoist commands combined with the common single-mode zero-vibration (ZV) and zero-vibration-derivative (ZVD) input-shapers.

Sensitivity analysis reveals robust performance in the Twin Bookcase Bed with Drawer presence of high system uncertainties.